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37 lines
1.2 KiB
37 lines
1.2 KiB
import numpy as np
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from metadrive.component.sensors.rgb_camera import RGBCamera
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from panda3d.core import Texture, GraphicsOutput
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class CopyRamRGBCamera(RGBCamera):
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"""Camera which copies its content into RAM during the render process, for faster image grabbing."""
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.cpu_texture = Texture()
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self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
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def get_rgb_array_cpu(self):
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origin_img = self.cpu_texture
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img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
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img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
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img = img[:,:,:3] # RGBA to RGB
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# img = np.swapaxes(img, 1, 0)
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img = img[::-1] # Flip on vertical axis
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return img
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class RGBCameraWide(CopyRamRGBCamera):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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lens = self.get_lens()
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lens.setFov(120)
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lens.setNear(0.1)
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class RGBCameraRoad(CopyRamRGBCamera):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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lens = self.get_lens()
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lens.setFov(40)
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lens.setNear(0.1)
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